#ifndef   ROBOTERROR_H_
#define   ROBOTERROR_H_

#define     ERR_UPLOAD_FILE_NOT_FOUND              -7
#define     ERR_SAVE_FILE_PATH_NOT_FOUND           -6
#define     ERR_LUA_FILE_NOT_FOUND                 -5
#define     ERR_XMLRPC_CMD_FAILED                  -4      //xmlrpc接口执行失败，请联系售后工程师
#define     ERR_XMLRPC_COM_FAILED                  -3      //xmlrpc通讯失败，请检查网络连接以及服务器IP地址是否正确
#define     ERR_SOCKET_COM_FAILED                  -2      //网络通讯异常
#define     ERR_OTHER                              -1      //其他错误
#define     ERR_SUCCESS                            0       //成功
#define     ERR_PARAM_NUM                          3       //参数个数不一致
#define     ERR_PARAM_VALUE                        4       //参数值不在合理范围
#define     ERR_TPD_FILE_OPEN_FAILED               8       //文件打开失败
#define     ERR_EXECUTION_FAILED                   14      //指令执行失败
#define     ERR_PROGRAM_IS_RUNNING                 18      //程序正在运行
#define     ERR_COMPUTE_FAILED                     25      //计算失败
#define     ERR_INVERSE_KINEMATICS_COMPUTE_FAILED  28      //逆运动学计算失败
#define     ERR_SERVOJ_JOINT_OVERRUN               29      //关节值超限
#define     ERR_NON_RESSETTABLE_FAULT              30      //不可复位故障，请断电重启控制箱
#define     ERR_WORKPIECE_NUM                      34      //工件号不对
#define     ERR_FILENAME_TOO_LONG                  36      //文件名太长
#define     ERR_STRANGE_POSE                       38      //奇异位姿
#define     ERR_NOT_ADD_CMD_QUEUE                  64      //未加入指令队列
#define     ERR_CIRCLE_SPIRAL_MIDDLE_POINT1        66      //整圆中间点1错误
#define     ERR_CIRCLE_SPIRAL_MIDDLE_POINT2        67      //整圆中间点2错误
#define     ERR_CIRCLE_SPIRAL_MIDDLE_POINT3        68      //整圆中间点3错误
#define     ERR_MOVEC_MIDDLE_POINT                 69      //圆弧中间点错误
#define     ERR_MOVEC_TARGET_POINT                 70      //圆弧目标点错误
#define     ERR_GRIPPER_MOTION                     73      //夹爪运动错误
#define     ERR_LINE_POINT                         74      //直线目标点错误
#define     ERR_CHANNEL_FAULT                      75      //通道错误
#define     ERR_WAIT_TIMEOUT                       76      //等待超时
#define     ERR_TPD_CMD_POINT                      82      //TPD指令点错误
#define     ERR_TPD_CMD_TOOL                       83      //TPD工具号错误
#define     ERR_SPLINE_POINT                       94      //样条指令点错误
#define     ERR_SPIRAL_START_POINT                 108     //螺旋线起始点错误
#define     ERR_TARGET_POSE_CANNOT_REACHED         112     //目标位姿无法到达
#define     ERR_POINTTABLE_NOTFOUND                130

#endif
